System for performing light subsea intervention work

ABSTRACT

A small size subsea vehicle is designed to comprise the form of a subsea tool and include a common drive interface that allows quick connect/disconnect with the subsea vehicles (ROVs and AUVs). A subsea tool system comprising the small size subsea vehicle comprises a main vehicle  100  with a tool interface comprising a common drive interface  104   a  and a power interface  104   b ; and a subsea tool system  102  comprising predetermined footprint configured to fit within a predetermined space, e.g., one smaller than a narrow region or a constricted area where a larger subsea vehicle cannot enter due to size constraints of the larger subsea vehicle; a predetermined set of tools  103 , each tool of the predetermined set of tools comprising a common drive interface  103   a ; and a tool repository  115.

RELATION TO OTHER APPLICATIONS

This application claims priority through U.S. Provisional Application63/359,675 filed on Jul. 8, 2022.

BACKGROUND

Subsea vehicles such as remotely operated vehicles (ROV) and autonomousunderwater vehicles (AUV) currently used in subsea environments forsurvey, construction, drill support, completion, and inspection,maintenance, and repair (IMR) activities are relatively large.Sometimes, there is a need to inspect a narrow region or a constrictedarea where the large subsea vehicle cannot enter due to size constraintsof the large subsea vehicle.

In addition, a work class ROV or AUV often requires large amounts ofpower, either through tethered power or batteries, which make themdifficult to integrate into a resident platform.

FIGURES

Various figures are included herein which illustrate aspects ofembodiments of the disclosed inventions.

FIG. 1 is a schematic view of an exemplary system;

FIG. 2 is a schematic view of a subsea tool system docked at a subsealocation; and

FIG. 3 is a schematic view of a subsea tool system.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

This disclosure describes a small size subsea vehicle which is designedto comprise the form of a subsea tool. In subsea conditions, multipletools such as intervention tools, manipulator jaws, torque tools,cleaning tools, and the like which are required to perform IMR work areconnected to a subsea vehicle for performing one or more respective toolfunctions. These tools are either taken from a surface vessel or may beplaced in a tooling cage or tooling basket (resident tooling) which maybe disposed near a work site. These tools may be carried by the subseavehicle itself or in a tooling basket. These tools may include a commondrive interface that allows quick connect/disconnect with the subseavehicles (ROVs and AUVs). As described herein, a plug and play (quickconnect/disconnect) type small size ROV tool with a main ROV can performIMR or intervention work (e.g., collecting samples; capture in canisteror scrape; cathodic probe (CP); etc.) or post completion activities orin subsea narrow or constricted areas.

In a first embodiment, referring generally to FIG. 1 and FIG. 3 , subseatool system 102 comprises housing 202, comprising a predeterminedfootprint which is configured to fit within a predetermined space; smallremotely operated vehicle 206 comprising a predetermined size smallerthan a narrow region or a constricted area where a larger subsea vehiclecannot enter due to size constraints of the larger subsea vehicle; mainvehicle adapter 208 adapted to operatively connect small remotelyoperated vehicle 206 to main vehicle 100; and tether management systemTMS 210 disposed at least partially within housing 202, TMS 210 adaptedto provide an adaptive length tether connection between small remotelyoperated vehicle 206 and housing 202.

In embodiments, small remotely operated vehicle 206 comprises a diameterof around 300 mm and a length of around 435 mm.

TMS 210 typically comprises one or more cable retrievers 211 and cable204 operatively connected to cable retriever 211 and small remotelyoperated vehicle 206, where cable retriever 211 is adapted toselectively spool in or spool out cable 204. Typically, TMS 210 furthercomprises electric motor 212 operatively connected to main vehicleadapter 208 and powered through inductive coupler 213, pinless powerconnector 214, or both inductive coupler 213 and pinless power connector214. Cable retriever 211 may comprise winch 215 or drum 216, with orwithout slip rings, or both winch 214 and drum 216. Power source 220 maybe present and operatively in communication with TMS 210, e.g., throughmain vehicle adapter 208. In embodiments, power source 220 is disposedwithin non-moving parts of TMS 210, within cable retriever 211, insidehousing 202, or within both housing 202 and TMS 210.

In embodiments, a power connection between the mini-ROV tool and a MainROV is typically through a tooling interface which provides pinlessinductive connection which provides rotational, mechanical power, andcommunication between a mini-ROV tool and Main ROV. Also, there could bemultiple main ROVs through which the mini-ROV tool could be connectedvia tooling interface. Power source 220 comprises a battery pack of apower capacity sufficient to be the main power source for subsea toolsystem 102 or be configured to be a power source that acts as a bufferpower source to enable small remotely operated vehicle 206 to draw morepower than what is induced to enable stability in high currents andextend operation duration. In embodiments where it is present, thebattery pack may be capable of being trickle charged or charged via atether, a non-fiber cable, or a fiber cable.

Main vehicle adapter 208 may comprises a male adapter 208 configured toconnect with main vehicle 100 through tooling interface 104 to providepower to subsea tool system 102.

Housing 202 typically comprises a corrosion resistant material, e.g.,titanium (Ti), high pitting resistance number (PREn) steel, a polymer,or an elastomer, or the like, or a combination thereof.

In embodiments, small remotely operated vehicle 206 may comprise one ormore lighting systems 301, cameras 302, sensors 303, a predetermined setof thrusters 307 configured to assist movement of small remotelyoperated vehicle 206 while maneuvering in a subsea environment, or thelike, or a combination thereof. If present, sensor 303 may comprise apressure sensor, a position sensor, a depth sensor, a CP/Potentialreader, a PH sensor, or an environment sensor.

In embodiments, small remotely operated vehicle 206 comprises minitooling kit 308 which may comprise a sampling box and/or plurality ofsampling equipment, a small gripper, a scrapper, or the like, or acombination thereof.

Referring now to FIG. 1 , a system for performing light subseaintervention work may comprise main vehicle 100, a tool interface 104comprising a common drive interface 104 a and a power interface 104 b,subsea tool system 102, as described herein above, a predetermined setof tools 103, each tool of the predetermined set of tools comprising acommon drive interface 103 a, such as an intervention tool, amanipulator jaw, a torque tool, a cleaning tool, a resident subsea tool,or a tool required to perform IMR work; and tool repository 115configured to selectively store the predetermined set of tools, whichmay comprise a surface vessel, a tooling cage, or a tooling basket.

Although it can comprise various shapes, main vehicle 100 typicallycomprises rounded front end 100 a and rounded aft end 100 b. These ends100 a,100 b tend to limit a tendency of main vehicle 100 to get stuck inconstricted areas such as pipeline, tank, inside template envelope andsimilar constricted areas. If rounded, there is less of a tendency oftangling or being stuck in a narrow region.

Tool interface 104 may be capable of providing simultaneous mechanicalbi-directional torque/rotational power and communication via induction.In embodiments, tool interface 104 comprises a pinless inductiveconnection configured to provide rotational power, mechanical power,data communication between small remotely operated vehicle 206 tool andmain vehicle 100, or a combination of rotational power, mechanicalpower, and communication between small remotely operated vehicle 206tool and main vehicle 100. Data communication generally comprisescommunication of data and command signals between main vehicle 100 andsecondary subsea vehicle 101 or small remotely operated vehicle 206using an inductor provided on and between tooling interface 104 and maleadapter 208 of subsea tool system 102.

In addition, tool interface 104 may be configured to transfer power tosmall remotely operated vehicle 206 using an inductor and may furthercomprise mechanical drive interface 104 c.

Common drive interface 104 a may comprise a plug and play interface.

Referring additionally to FIG. 2 , subsea tool system 102 is typicallyconnected semi-permanently (but detachably) to subsea infrastructure orsubsea asset 300 (such as subsea x-trees, manifolds, pipelines, subseacontrol unit and similar subsea structures) via a tool interfaceconnection (adaptive mechanical and pinless power drive interface)provided on subsea infrastructure 300. In that manner, subsea toolsystem 102 may be a standalone unit which draws power and receives datathrough subsea asset/infrastructure 300 via tooling interface 104.Subsea tool system 102 may be remotely controlled from nearby surfaceinstallation or from a remote location.

Main vehicle 100 may comprise a plurality of main vehicles 100, and, ifso, tool interface 104 comprises multiple main ROV interfaces 104operative to interface small remotely operated vehicle 206 tool to theplurality of main vehicles 100. Main vehicle 100 may comprise a remotelyoperated vehicle (ROV), an autonomous underwater vehicle (AUV), a subseadrone, a dredging vehicle, a subsea crawler, a hybrid underwatervehicle, a resident remotely operated vehicle, or a skid.

In the operation of exemplary methods, referring back to FIG. 1 , asubsea tool system as described above uses main vehicle 100 to positionsubsea tool system 102 at a predetermined subsea location and a firsttool 103 selected from a predetermined set of tools 103, each tool ofthe predetermined set of tools 103 comprising a common drive interface103 a. The selected first tool 104 is operatively connected to toolinterface 104. Subsea tool system 102 may be remotely controlled from asurface installation or from a remote location or both.

When desired, the selected first tool 103 is detached from toolinterface 104 subsea; a second tool 103 selected from the predeterminedset of tools 103; and the selected second tool operatively connected totool interface 104 subsea.

Where the main vehicle comprises a surface vehicle, the surface vehiclemay be used to position subsea tool system 102 at the predeterminedsubsea location.

As desired, subsea tool system 102 may be detachably connected to subseainfrastructure or subsea asset 300 after positioning subsea tool system102 at the predetermined subsea location. Where subsea infrastructure orsubsea asset 300 comprises a tooling interface connection, subsea toolsystem 102 may be operatively connected to subsea infrastructure orsubsea asset 300 via that tooling interface connection; power providedto subsea tool system 102 through subsea asset or subsea infrastructure300 via tooling interface 104; and a data connection established betweensubsea tool system 102 and subsea asset or subsea infrastructure 300 viathe tooling interface connection. Where tool interface 104 comprises adetachable wet mate connector tied to subsea infrastructure, power anddata communication may be provided through the detachable wet mateconnector and the tooling interface connection.

The predetermined set of tools 103 may be placed into a tooling cage ortooling basket near the predetermined subsea location along with subseatool system 102 and small remotely operated vehicle 206 used to carrysubsea tool system 102 in the tooling basket along with thepredetermined set of tools 103 to a desired location.

Where the main vehicle comprises a remotely operated vehicle (ROV) or anautonomously operated vehicle (AUV), subsea tool system 102 may becocked on a semi-permanent tooling basket to facilitate easy replacementof subsea tool system 102 in case subsea tool system 102 fails or getsdamaged or gets stuck or needs to be relocated to enable expanded use ofsubsea tool system 102. For example, if subsea tool system 102 is faultyor is not working properly, TMS 210 may use its tether to retrievesubsea tool system 102 back to a static unit/cage.

Subsea tool system 102 may function as an antenna that is capable ofreceiving and transferring communication signals wirelessly from aseparate subsea vehicle.

The foregoing disclosure and description of the inventions areillustrative and explanatory. Various changes in the size, shape, andmaterials, as well as in the details of the illustrative constructionand/or an illustrative method may be made without departing from thespirit of the invention.

What is claimed is: 1) A subsea tool system, comprising: a) a housingcomprising a predetermined footprint, the predetermined footprintconfigured to fit within a predetermined space; b) a small remotelyoperated vehicle comprising a predetermined size smaller than a narrowregion or a constricted area where a larger subsea vehicle cannot enterdue to size constraints of the larger subsea vehicle; c) a main vehicleadapter adapted to operatively connect the small remotely operatedvehicle to a main vehicle; and d) a tether management system (TMS)disposed at least partially within the housing, the TMS adapted toprovide an adaptive length tether connection between the small remotelyoperated vehicle and the housing, the TMS comprising: (a) a cableretriever; and (b) a cable operatively connected to the cable retrieverand the small remotely operated vehicle, the cable retriever adapted toselectively spool in or spool out the cable. 2) The subsea tool systemof claim 1, wherein the small remotely operated vehicle comprises adiameter of 300 mm and a length of 435 mm. 3) The subsea tool system ofclaim 1, further comprising a power source operatively in communicationwith the TMS. 4) The subsea tool system of claim 1, wherein main vehicleadapter comprises a male adapter configured to connect with the mainvehicle through a tooling interface to provide power to the subsea toolsystem. 5) The subsea tool system of claim 1, wherein the housingcomprises a corrosion resistant material. 6) The subsea tool system ofclaim 1, wherein the small remotely operated vehicle further comprises:a) a lighting system; b) a camera; c) a sensor; and d) a predeterminedset of thrusters configured to assist movement of the small remotelyoperated vehicle while maneuvering in a subsea environment. 7) A system,comprising: a) a main vehicle, comprising: i) a rounded front end; ii) arounded aft end; and iii) a tool interface, comprising: (1) a commondrive interface; and (2) a power interface; b) a subsea tool system,comprising: i) a housing comprising a predetermined footprint, thepredetermined footprint configured to fit within a predetermined space;ii) a small remotely operated vehicle comprising a predetermined sizesmaller than a narrow region or a constricted area where a larger subseavehicle cannot enter due to size constraints of the larger subseavehicle; iii) a main vehicle adapter adapted to operatively connect thesmall remotely operated vehicle to a main vehicle; and iv) a tethermanagement system (TMS) disposed at least partially within the housing,the TMS adapted to provide an adaptive length tether connection betweenthe small remotely operated vehicle and the housing, the TMS comprising:(1) a cable retriever; and (2) a cable operatively connected to thecable retriever and the small remotely operated vehicle, the cableretriever adapted to selectively spool in or spool out the cable; c) apredetermined set of tools, each tool of the predetermined set of toolscomprising a common drive interface; and d) a tool repository configuredto selectively store the predetermined set of tools. 8) The system ofclaim 7, wherein the common drive interface comprises a plug and playinterface. 9) The system of claim 7, wherein the tool interface iscapable of providing simultaneous mechanical bi-directionaltorque/rotational power and communication via induction. 10) The systemof claim 16, wherein the tool interface comprises a pinless inductiveconnection configured to provide rotational power, mechanical power,data communication between the small remotely operated vehicle tool andthe main vehicle, or a combination of rotational power, mechanicalpower, and communication between small remotely operated vehicle tooland the main vehicle. 11) The system of claim 10, wherein datacommunication comprises communication of data and command signalsbetween the main vehicle and a secondary subsea vehicle or the smallremotely operated vehicle using an inductor provided on and between thetooling interface and a male adapter of the subsea tool system. 12) Thesystem of claim 7, wherein the main vehicle comprises a remotelyoperated vehicle (ROV), an autonomous underwater vehicle (AUV), a subseadrone, a dredging vehicle, a subsea crawler, a hybrid underwatervehicle, a resident remotely operated vehicle, or a skid. 13) A methodfor tool use subsea using a subsea tool system comprising a main vehiclewhich comprises a rounded front end, a rounded aft end, and a toolinterface, the tool interface comprising a common drive interface and apower interface; a subsea tool system, comprising a housing comprising apredetermined footprint configured to fit within a predetermined space,a small remotely operated vehicle comprising a predetermined sizesmaller than a narrow region or a constricted area where a larger subseavehicle cannot enter due to size constraints of the larger subseavehicle, a main vehicle adapter adapted to operatively connect the smallremotely operated vehicle to a main vehicle, and a tether managementsystem (TMS) disposed at least partially within the housing where theTMS is adapted to provide an adaptive length tether connection betweenthe small remotely operated vehicle and the housing and where the TMScomprises a cable retriever and a cable operatively connected to thecable retriever and the small remotely operated vehicle, the cableretriever adapted to selectively spool in or spool out the cable; apredetermined set of tools, each tool of the predetermined set of toolscomprising a common drive interface (103 a); and a tool repositoryconfigured to selectively store the predetermined set of tools, themethod comprising: a) using a main vehicle to position the subsea toolsystem at a predetermined subsea location; b) selecting a first toolfrom a predetermined set of tools, each tool of the predetermined set oftools comprising a common drive interface; and c) operatively connectingthe first tool to the tool interface. 14) The method of claim 13,further comprising: a) detaching the first tool from the tool interfacesubsea; b) selecting a second tool from the predetermined set of tools;and c) operatively connecting the second tool to the tool interfacesubsea. 15) The method of claim 13, further comprising: a) placing thepredetermined set of tools into a tooling cage or tooling basket nearthe predetermined subsea location proximate a subsea infrastructure orsubsea asset; b) placing the subsea tool system in the tooling cage ortooling basket near the predetermined subsea location; and c) using thesmall remotely operated vehicle to carry the subsea tool system in thetooling basket along with the predetermined set of tools. 16) The methodof claim 15, wherein the subsea infrastructure or subsea asset comprisesa tooling interface connection, the method further comprising: a)operatively connecting the subsea tool system to the subseainfrastructure or subsea asset via the tooling interface connection; b)providing power to the subsea tool system through the subsea asset orsubsea infrastructure via a tooling interface; and c) establishing adata connection between the subsea tool system and the subsea asset orsubsea infrastructure via the tooling interface connection. 17) Themethod of claim 13, wherein the tool interface comprises a detachablewet mate connector tied to subsea infrastructure, the method furthercomprising providing power and data communication through the detachablewet mate connector and the tooling interface connection. 18) The methodof claim 13, wherein the main vehicle comprises a remotely operatedvehicle (ROV) or an autonomously operated vehicle (AUV), the methodfurther comprising docking the subsea tool system on a semi-permanenttooling basket to facilitate easy replacement of the subsea tool systemin case the subsea tool system fails or gets damaged or gets stuck orneeds to be relocated to enable expanded use of the subsea tool system.19) The method of claim 13, further comprising, if the subsea toolsystem is faulty or is not working properly, using the TMS to use thetether to retrieve the subsea tool system back to a static unit/cage.20) The method of claim 13, further comprising using the subsea toolsystem to function as an antenna that is capable of receiving andtransferring communication signals wirelessly from a separate subseavehicle.